A method for singularity reduction in a triangular 3-UPS mechanism is discussed. This mechanism usually has singularity near the origin. Changing the active joint angle can arrive at a suitable workspace near the origin without any singularity. Moreover, a 4-UPS mechanism, based on adding one additional leg to the 3-UPS mechanism, has a larger singular free workspace. Moreover, force analysis of two different mechanisms shows a reasonable and consistent force distribution between the different actuators. Singular free workspace is one of the characteristics which makes this mechanism ideal for haptic applications.

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